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DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 李宇修 | zh_TW |
dc.contributor.advisor | Yu-Hsiu Lee | en |
dc.contributor.author | 蘇詩媚 | zh_TW |
dc.contributor.author | Shi-Mei Su | en |
dc.date.accessioned | 2023-08-01T16:12:13Z | - |
dc.date.available | 2023-11-09 | - |
dc.date.copyright | 2023-08-01 | - |
dc.date.issued | 2023 | - |
dc.date.submitted | 2023-06-29 | - |
dc.identifier.citation | Xue, J., et al., 3D face profilometry based on galvanometer scanner with infrared fringe projection in high speed. Applied Sciences, 2019. 9(7): p. 1458.
Duma, V.-F., et al., Optimization of galvanometer scanning for Optical Coherence Tomography. Applied Optics, 2015. 54(17): p. 5495-5507. Yuan, Y., S. Yang, and D. Xing, Optical-resolution photoacoustic microscopy based on two-dimensional scanning galvanometer. Applied Physics Letters, 2012. 100(2): p. 023702. Kim, J.Y., et al., High-speed and high-SNR photoacoustic microscopy based on a galvanometer mirror in non-conducting liquid. Scientific reports, 2016. 6(1): p. 34803. Luo, X., J. Li, and M. Lucas. Galvanometer scanning technology for laser additive manufacturing. in Laser 3D Manufacturing IV. 2017. SPIE. Csencsics, E., et al., System integration and control for 3D scanning laser metrology. IEEJ Journal of Industry Applications, 2019. 8(2): p. 207-217. Francis, B.A. and W.M. Wonham, The internal model principle of control theory. Automatica, 1976. 12(5): p. 457-465. Tomizuka, M., T.-C. Tsao, and K.-K. Chew, Analysis and synthesis of discrete-time repetitive controllers. 1989. Shih, L.-W. and C.-W. Chen, Model-free repetitive control design and implementation for dynamical galvanometer-based raster scanning. Control Engineering Practice, 2022. 122: p. 105124. Tsao, T.-C. and M. Tomizuka, Robust adaptive and repetitive digital tracking control and application to a hydraulic servo for noncircular machining. Journal of dynamic systems, measurement, and control, 1994. 116(1): p. 24-32. Hwang, K., et al., Frequency selection rule for high definition and high frame rate Lissajous scanning. Scientific reports, 2017. 7(1): p. 1-8. Chan, N., et al. Multiple Harmonic Lissajous Scanning Patterns for Endomicroscopy With Parametrically-Resonant Micro-Mirrors. in International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. 2021. American Society of Mechanical Engineers. Fukuda, S. and R. Imamura, Application of a sinusoidal internal model to current control of three-phase utility-interface converters. IEEE Transactions on Industrial Electronics, 2005. 52(2): p. 420-426. Chen, X. and M. Tomizuka, Overview and new results in disturbance observer based adaptive vibration rejection with application to advanced manufacturing. International Journal of Adaptive Control and Signal Processing, 2015. 29(11): p. 1459-1474. Wang, Y., K.C. Chu, and T.-C. Tsao. An analysis and synthesis of internal model principle type controllers. in 2009 American Control Conference. 2009. IEEE. Kang, C. and T.-C. Tsao, Control of magnetic bearings for rotor unbalance with plug-in time-varying resonators. Journal of Dynamic Systems, Measurement, and Control, 2016. 138(1). Csencsics, E. and G. Schitter, System design and control of a resonant fast steering mirror for lissajous-based scanning. IEEE/ASME Transactions on Mechatronics, 2017. 22(5): p. 1963-1972. Fleming, J., B. Kouvaritakis, and M. Cannon, Robust tube MPC for linear systems with multiplicative uncertainty. IEEE Transactions on Automatic Control, 2014. 60(4): p. 1087-1092. Doyle, J.C., B.A. Francis, and A.R. Tannenbaum, Feedback control theory. 2013: Courier Corporation. Regalia, P.A., S.K. Mitra, and P. Vaidyanathan, The digital all-pass filter: A versatile signal processing building block. Proceedings of the IEEE, 1988. 76(1): p. 19-37. Regalia, P.A. and S.K. Mitra, Phase sensitivity properties of cascaded digital lattice allpass filters. Signal processing, 1988. 15(1): p. 1-21. Pei, S.-C. and C.-C. Tseng, IIR multiple notch filter design based on allpass filter. IEEE Transactions on Circuits and Systems II: Analog and Digital Signal Processing, 1997. 44(2): p. 133-136. Butterworth, J.A., L.Y. Pao, and D.Y. Abramovitch. The effect of nonminimum-phase zero locations on the performance of feedforward model-inverse control techniques in discrete-time systems. in 2008 American control conference. 2008. IEEE. van Zundert, J. and T. Oomen, On inversion-based approaches for feedforward and ILC. Mechatronics, 2018. 50: p. 282-291. Stein, G., Respect the unstable. IEEE Control systems magazine, 2003. 23(4): p. 12-25. Regalia, P.A., An improved lattice-based adaptive IIR notch filter. IEEE transactions on signal processing, 1991. 39(9): p. 2124-2128. Gray, A., Passive cascaded lattice digital filters. IEEE Transactions on Circuits and Systems, 1980. 27(5): p. 337-344. | - |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/87979 | - |
dc.description.abstract | 本研究旨在開發一種能夠廣泛應用於光路導引系統的精密且完善的雷射追蹤控制方法。為了實現這一目標,我們提出了一種高性能且數值穩定的全通式內部模型控制器,該控制器能夠有效追蹤窄頻訊號。
全通式內部模型控制器是一種基於內部模型的控制演算法。它通過全通濾波器建立與窄頻訊號輸入相關的內部模型,並將針對目標頻率的全通式峰值濾波器引入回授控制系統中,從而實現窄頻訊號的追蹤。此外,全通式控制器還可以獨立設計相位響應的特性,同時不影響幅值響應。相較於其他現有的控制方法,全通式內部模型控制器具有更高的數值穩定度。這是因為全通式內部模型控制器的係數是直接根據目標頻率生成的轉移函數,而不需要將多個目標頻率的轉移函數進行乘法疊加。這種特性使得該控制器在受到位數量化時具有更好的穩定性。 除了窄頻訊號追蹤,光路導引系統還可能受到外界擾動的影響,這可能阻礙追蹤控制的有效實現。為了應對這個問題,本研究同時採用了干擾觀察器和適應性濾波器。干擾觀察器用於實時檢測外界擾動訊號,並將適應性濾波器估計的外界擾動頻率資訊應用於建構全通式凹陷濾波器,以實現窄頻訊號的追蹤。由於全通濾波器具有結構穩定性,因此不需要擔心實時建構的內部模型會對系統的穩定性產生影響。綜上所述,本研究提出了一種能夠廣泛應用於光路導引系統的精密且完善的雷射追蹤控制方法。通過全通式內部模型控制器和應對外界擾動的干擾觀察器和適應性濾波器的結合,我們能夠實現窄頻訊號的高性能追蹤控制。該方法具有數值穩定度高、系統穩定性好等優勢,有望在光路導引系統中得到廣泛應用。 | zh_TW |
dc.description.abstract | This study aims to develop a precise and advanced laser tracking control method for optical path guidance systems. It introduces a high-performance and numerically stable all-pass internal model controller for effectively tracking narrowband sinusoidal signals.The all-pass internal model controller utilizes an all-pass filter to construct an internal model related to the narrowband signal input. By introducing a peak filter with an all-pass characteristic into the feedback control system for the target frequency, accurate narrowband signal tracking is achieved. The controller allows independent design of the phase response while preserving the amplitude response.Compared to existing control methods, the all-pass internal model controller exhibits superior numerical stability. It directly generates corresponding transfer functions using the same approach for any target frequency, eliminating the need for
multiplication or superposition of transfer functions. This characteristic enhances stability when subjected to digital signal quantization. In addition to narrowband signal tracking, the study addresses external disturbances in optical path guidance systems. It utilizes disturbance observers and adaptive filters to detect real-time disturbance signals and construct an all-pass notch filter based on estimated disturbance frequency information. This approach facilitates narrowband signal tracking while maintaining structural stability of the all-pass filter. In conclusion, this study proposes a precise and advanced laser tracking control method for optical path guidance systems. The all-pass internal model controller, combined with disturbance observers and adaptive filters, enables high-performance narrowband signal tracking. It offers advantages such as numerical stability and system stability, making it a promising approach for optical path guidance systems. | en |
dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2023-08-01T16:12:13Z No. of bitstreams: 0 | en |
dc.description.provenance | Made available in DSpace on 2023-08-01T16:12:13Z (GMT). No. of bitstreams: 0 | en |
dc.description.tableofcontents | 口試委員會審定書 #
誌謝 i 中文摘要 iii ABSTRACT v 目錄 vii 圖目錄 x 表目錄 xiii 符號列表 xiv Chapter 1 緒論 1 1.1 研究動機與背景 1 1.2 文獻回顧 4 1.2.1 內部模型控制原理 5 1.2.2 正弦內部模型控制 5 1.2.3 峰值濾波器設計內部模型控制 7 1.2.4 Dual Tone H∞ 控制 8 1.2.5 重複控制(Repetitive control) 9 1.3 研究目的 10 1.4 論文概述 11 Chapter 2 光路導引系統模型 13 2.1 光路導引系統配置 13 2.2 光路導引系統識別 14 Chapter 3 全通式內部模型控制器 19 3.1 可嵌入式(Plug-in)內部模型控制器架構 20 3.2 全通濾波器(All pass filter) 23 3.2.1 全通濾波器性質 23 3.2.2 全通濾波器獨立設計相位響應 24 3.2.3 全通濾波設計凹陷濾波器和峰值濾波器 25 3.2.4 全通濾波器數值強健度實理 27 3.3 全通濾波器建構內部模型 30 3.3.1 全通式內部模型 30 3.3.2 控制器穩定條件 31 3.3.3 相位領先補償 34 3.3.4 全通濾波控制器敏感度分析 35 3.3.5 不同內部模型控制敏感度分析比對 36 3.3.6 不同內部模型強健穩定性比對 39 3.4 全通式內部模型應用於窄頻訊號追蹤標準設計流程 41 Chapter 4 全通濾波控制器消除未知窄頻干擾 45 4.1 擾動觀察器(Disturbance observer) 46 4.2 頻率估測與適應性凹陷濾波 47 4.3 相位均衡(Phase equalization) 50 4.4 全通式內部模型應用於消除窄頻訊號干擾設計流程 52 Chapter 5 系統控制實驗 56 5.1 已知窄頻訊號追蹤實驗 56 5.1.1 窄頻訊號追蹤實驗流程 57 5.1.2 窄頻訊號追蹤實驗參數設計 59 5.1.3 已知窄頻訊號追蹤實驗結果 60 5.2 未知干擾消除實驗 63 5.2.1 未知干擾消除實驗流程與參數設計 64 5.2.2 未知窄頻干擾消除實驗結果 65 Chapter 6 全通式內部模型控制方法的性能評估 73 6.1 整體性能總結 73 6.2 與現有方法比較 73 6.3 實驗結果的啟示與可改進之處 75 REFERENCE 76 | - |
dc.language.iso | zh_TW | - |
dc.title | 基於全通式濾波建構的內部模型控制器在光學振鏡的應用 | zh_TW |
dc.title | Galvanometer Control with All pass based Internal Model Principle Controller | en |
dc.type | Thesis | - |
dc.date.schoolyear | 111-2 | - |
dc.description.degree | 碩士 | - |
dc.contributor.oralexamcommittee | 葉奕良;陳政維;王富正 | zh_TW |
dc.contributor.oralexamcommittee | Yi-Liang Yeh;Cheng-Wei Chen;Fu-Cheng Wang | en |
dc.subject.keyword | 內部模型原理,全通濾波器,適應性濾波器,已知窄頻訊號追蹤, | zh_TW |
dc.subject.keyword | Internal model principle,All pass filter,Adaptive filter,Reference tracking,Disturbance rejection, | en |
dc.relation.page | 77 | - |
dc.identifier.doi | 10.6342/NTU202301191 | - |
dc.rights.note | 同意授權(限校園內公開) | - |
dc.date.accepted | 2023-06-30 | - |
dc.contributor.author-college | 工學院 | - |
dc.contributor.author-dept | 機械工程學系 | - |
顯示於系所單位: | 機械工程學系 |
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